一种磁悬浮飞轮增益预调交叉反馈控制方法

磁悬浮飞轮转子在高转速下表现出的陀螺效应是影响系统稳定性的主要因素.为了提高磁悬浮飞轮的失稳转速,针对陀螺效应引起的系统章动失稳和进动失稳,提出了一种基于转速的增益预调交叉反馈控制方法,针对不同的转速段,建立在线控制相对应的交叉反馈通道增益和带宽参数表,对进动模态和章动模态分别实现交叉相位补偿.采用该控制方法用经典控制理论中的根轨迹法对系统的章动稳定性进行了仿真并对控制参数进行了优化.仿真和实验结果表明,采用这种基于转速的增益预调交叉反馈的控制算法,能够有效地抑制磁悬浮飞轮转子陀螺效应所导致的章动失稳,所设计的磁悬浮飞轮原理样机能够稳定运行在其额定转速30000r/min.

Gain scheduling cross feedback control approach for magnetic suspending flywheel

At high rotational speeds,the gyroscopic effect of flywheel rotor is the major factor that influences rotor stability.The gyroscopic effects will lead to nutation destabilization or procession destabilization.A gain scheduling proportional cross feedback control algorithm based on the rotational speed is accepted to compensate nutation and precession lag in phase by creating the parameter table of cross feedback channel according to different rotational speed interval.The active magnetic bearing-rotor system model based on the gyroscopic technical equation is established.Root locus method of the classical control theory is used to give nutation stability simulation and analysis based on this model.Instruction of setting and optimization of the controlling parameter is presented.Simulation and test prove that this method can improve nutation stability caused by gyroscopic effects effectively.The designed prototype magnetic suspending flywheel can reach its rated design speed(30 000 r/min) stably.